Unconstrained Moving Horizon Estimation and Simultaneous Model Predictive Control by Multi-Parametric Programming Conference Paper uri icon


  • We demonstrate how unconstrained Moving Horizon Estimation (MHE) and Model Predictive Control (MPC) can be simultaneously addressed via multi-parametric programming. We show that the estimation error is bounded in an invariant set by first obtaining the error dynamics of unconstrained MHE for linear, time-invariant systems and then using set-theoretical methods to derive bounds on the estimation error. We then use the error dynamics and the error bounds for the design of a robust output feedback explicit/multi-parametric MPC resulting in a simultaneous estimation and control design which we illustrate with an example of robust tube-based output feedback MPC.

name of conference

  • UKACC International Conference on CONTROL 2010

published proceedings

  • UKACC International Conference on CONTROL 2010

author list (cited authors)

  • Pistikopoulos, E. N., Kouramas, K., & Voelker, A.

citation count

  • 8

complete list of authors

  • Pistikopoulos, EN||Kouramas, K||Voelker, A

publication date

  • January 2010